spline_smoother::ClampedCubicSplineSmoother< T > Class Template Reference

Generates a clamped cubic spline trajectory from the input waypoints. More...

#include <clamped_cubic_spline_smoother.h>

Inheritance diagram for spline_smoother::ClampedCubicSplineSmoother< T >:

Public Member Functions
	ClampedCubicSplineSmoother ()
virtual bool	smooth (const T &trajectory_in, T &trajectory_out) const
	Smooths the input position trajectory by generating velocities and accelerations at the waypoints.
virtual	~ClampedCubicSplineSmoother ()
Static Public Attributes
static const int	MAX_TRIDIAGONAL_SOLVER_ELEMENTS = 20
Private Member Functions
bool	smoothSegment (std::vector< trajectory_msgs::JointTrajectoryPoint > &waypoints) const
Private Attributes
NumericalDifferentiationSplineSmoother < T >	num_diff_spline_smoother_

Detailed Description

template<typename T>
class spline_smoother::ClampedCubicSplineSmoother< T >

Generates a clamped cubic spline trajectory from the input waypoints.

This spline smoother forms cubic spline segments between way-points. The velocities at the way-points are generated by constraining accelerations of adjoining sections to be equal, constraining start and end velocities to be equal to zero, then solving the resulting linear system of equations.

Processing time is O(N), but this method appears to be numerically unstable for long trajectories (N>20)

Definition at line 56 of file clamped_cubic_spline_smoother.h.

Constructor & Destructor Documentation

template<typename T >

spline_smoother::ClampedCubicSplineSmoother< T >::ClampedCubicSplineSmoother ( ) [inline]

Definition at line 80 of file clamped_cubic_spline_smoother.h.

template<typename T >

spline_smoother::ClampedCubicSplineSmoother< T >::~ClampedCubicSplineSmoother ( ) [inline, virtual]

Definition at line 85 of file clamped_cubic_spline_smoother.h.

Member Function Documentation

template<typename T >

bool spline_smoother::ClampedCubicSplineSmoother< T >::smooth	(	const T &	trajectory_in,
		T &	trajectory_out
	)			const `[inline, virtual]`

Smooths the input position trajectory by generating velocities and accelerations at the waypoints.

Returns:: true if successful, false if not

Implements spline_smoother::SplineSmoother< T >.

Definition at line 90 of file clamped_cubic_spline_smoother.h.

template<typename T >

bool spline_smoother::ClampedCubicSplineSmoother< T >::smoothSegment ( std::vector< trajectory_msgs::JointTrajectoryPoint > & waypoints ) const [inline, private]